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Table 2 Mean of processing times of functional blocks on Rawseeds dataset

From: Large-scale monocular FastSLAM2.0 acceleration on an embedded heterogeneous architecture

Functional blocks (FBs) Mean of processing time per one occurrence \(\phantom {\dot {i}\!}t_{\text {FB}_{\text {x}}}\) (ms) MOTS Mean of processing times \(\phantom {\dot {i}\!}t_{\text {FB}_{\text {x}}}^{\prime }\) (ms) Speedup
  One-core Quad-core CPU-GPU   One-core Quad-core CPU-GPU
  Quad-CPU GPU Quad-CPU GPU  
FB2 6.38 4.83 4.83 - 1 6.38 4.83 4.83 1.32
FB1 272.03 150.19 3.42 15.1 4107.8 2267.9 51.66 43.9
FB3 11.78 5.72 2.28 14.1 166.09 80.71 32.17 2.50
FB4 7.12 5.04 1.37 14.1 100.50 71.09 19.45 3.65
FB5 5.45 2.95 0.96 10 55.45 29.58 9.65 3.06
FB6 4.7 1.88 0.51 5.2 24.87 9.8 2.7 3.6
Total 307.46 170.61 13.37 4461.09 2463.91 120.46 20.38